Motor controller
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsSouki Kaku, Ryuichi Oguro, Hideki Honda
Life of this patent
Estimating the term…
Abstract
A motor controller, comprising a first simulation control unit (8) and a second simulation control unit (9) as a feed forward control means for inputting a command to an actual control unit (10) performing a feedback control, wherein the control parameter of the first simulation control unit (8) is set so that the high-speed property of a control response is increased, and the control parameter of the second simulation control unit (9) is set so that the stability of the control response is increased, whereby an entire feed forward control means can be designed so as to meet the requirements for the high-speed property and high stability of the control response.
Claims40
A motor controller for controlling a machine system having a power converting circuit which operates to drive an electric motor coupled to a load mechanism through a transmission mechanism in response to a torque command, and actual observing unit which provides an actual rotation angle signal and an actual speed signal of said electric motor, said motor controller characterized by comprising:
- first simulation control means for calculating a first simulation position signal, a first simulation speed signal and a first simulation acceleration signal based on a commanded rotation angle signal provided from an upper rank apparatus and at least one first control parameter, to provide the calculated signals;
- second simulation control means for calculating a second simulation position signal, a second simulation speed signal, a second simulation acceleration signal and a simulation torque signal based on said first simulation position signal, said first simulation speed signal, said first simulation acceleration signal and at least one second control parameter to provide the calculated signals;
- and
- actual control means for performing a feedback control based on said second simulation position signal, said second simulation speed signal, said second simulation acceleration signal and said simulation torque signal to calculate and provide said torque command.
A motor controller for controlling a machine system having a power converting circuit which operates to drive an electric motor coupled to a load mechanism through a transmission mechanism in response to a torque command, and actual observing unit which provides an actual response signal of said electric motor, said motor controller characterized by comprising:
- first simulation control means for calculating a first simulation speed signal and a first simulation torque signal based on a commanded rotation angle signal provided from an upper rank apparatus and at least one control parameter to provide said first simulation speed signal and said first simulation torque signal;
- second simulation control means for performing a proportional control based on a deviation of a second simulation position signal from said commanded rotation angle signal to calculate a value, performing an integral control based on the deviation of said second simulation position signal from said commanded rotation angle signal to calculate a value, performing a proportional control based on a deviation of a second simulation speed signal from said first simulation speed signal to calculate a value, and adding said values and the value of the first simulation torque signal to provide the sum as said second simulation torque signal;
- integrating said second simulation torque signal once to provide the integrated signal as the second simulation speed signal;
- and integrating said second simulation speed signal once to provide the integrated signal as the second simulation position signal;
- and
- actual control means for performing a feedback control based on said second simulation position signal, said second simulation speed signal and said second simulation torque signal to calculate and provide said torque command.
Dependencies are inferred from the claim text.